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## cross-entropy.ipynb

      
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                yang-zhang
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              March 18, 2024 06:05
            
              
                Cross entropy implementation in pytorch
              
          
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## python-pid_controller
def pid_controller(y, yc, h=1, Ti=1, Td=1, Kp=1, u0=0, e0=0)
	"""Calculate System Input using a PID Controller

	Arguments:
	y  .. Measured Output of the System
	yc .. Desired Output of the System
	h  .. Sampling Time
	Kp .. Controller Gain Constant
	Ti .. Controller Integration Constant
	Td .. Controller Derivation Constant
	def pid_controller(y, yc, h=1, Ti=1, Td=1, Kp=1, u0=0, e0=0)
	"""Calculate System Input using a PID Controller

	Arguments:
	y .. Measured Output of the System
	yc .. Desired Output of the System
	h .. Sampling Time
	Kp .. Controller Gain Constant
	Ti .. Controller Integration Constant
	Td .. Controller Derivation Constant